Calibration and decoupling of multi-axis robotic Force/Moment sensors

doi:10.1016/j.rcim.2017.08.008

	Calibration and decoupling of multi-axis robotic Force/Moment sensors
	Liang, Qiaokang 1,2; Wu, Wanneng 1; Coppola, Gianmarc 3; Zhang, Dan 4; Sun, Wei 1,2; Ge, Yunjian 5; Wang, Yaonan 1,2
	2018-02-01
发表期刊	ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
摘要	force (Fx, Fy, and Fz), as well as the moments (Mx, My and Mz). This enables them to be frequently used in many robotic applications. Accurate, time-effective calibration and decoupling procedures are critical to the implementation of these sensors. This paper compares the effectiveness of decoupling methods based on Least-Squares (LS), BP Neural Network (BPNN), and Extreme Learning Machine (ELM) methods for improving the performance of multi-axis robotic F/M sensors. In order to demonstrate the effectiveness of the decoupling methods, a calibration and decoupling experiment was performed on a five-axis robotic F/M sensor. The experiments demonstrate that the ELM based decoupling method is superior to LS and BPNN based methods. The presented theoretical and experimental demonstrations provide a comprehensive description of the calibration and decoupling procedures of multi -axis robotic F/M sensors. This work reveals that the ELM method is an appropriate and high performing decoupling procedure for multi -axis robotic F/M sensors. (C) 2017 Elsevier Ltd. All rights reserved.
文章类型	Article
关键词	Robotic Sensory System Multi-axis Force/moment Sensors Calibration And Decoupling Extreme Learning Machine
WOS标题词	Science & Technology ; Technology
DOI	10.1016/j.rcim.2017.08.008
关键词[WOS]	6-AXIS FORCE/TORQUE SENSOR ; FORCE SENSOR ; TOUCH ; TRANSDUCER ; MACHINE ; DESIGN
收录类别	SCI
语种	英语
项目资助者	National Nature Science Foundation of China(NSFC 61673163) ; National Nature Science Foundation of China(NSFC 61673163) ; National Nature Science Foundation of China(NSFC 61673163) ; National Nature Science Foundation of China(NSFC 61673163) ; National Nature Science Foundation of China(NSFC 61673163) ; National Nature Science Foundation of China(NSFC 61673163) ; National Nature Science Foundation of China(NSFC 61673163) ; National Nature Science Foundation of China(NSFC 61673163) ; Hunan provincial natural science foundation of China(2016JJ3045) ; Hunan provincial natural science foundation of China(2016JJ3045) ; Hunan provincial natural science foundation of China(2016JJ3045) ; Hunan provincial natural science foundation of China(2016JJ3045) ; Hunan provincial natural science foundation of China(2016JJ3045) ; Hunan provincial natural science foundation of China(2016JJ3045) ; Hunan provincial natural science foundation of China(2016JJ3045) ; Hunan provincial natural science foundation of China(2016JJ3045)
WOS研究方向	Computer Science ; Engineering ; Robotics
WOS类目	Computer Science, Interdisciplinary Applications ; Engineering, Manufacturing ; Robotics
WOS记录号	WOS:000412957500027
引用统计	被引频次：25[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/33785
专题	中科院合肥智能机械研究所
作者单位	1.Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Hunan, Peoples R China 2.Hunan Univ, Natl Engn Lab Robot Vision Percept & Control, Changsha 410082, Hunan, Peoples R China 3.Univ Ontario, Inst Technol, Fac Engn & Appl Sci, Oshawa, ON L1H 7K4, Canada 4.York Univ, Dept Mech Engn, Toronto, ON M3J 1P3, Canada 5.Chinese Acad Sci, Inst Intelligent Machines, Hefei 230031, Anhui, Peoples R China
推荐引用方式 GB/T 7714	Liang, Qiaokang,Wu, Wanneng,Coppola, Gianmarc,et al. Calibration and decoupling of multi-axis robotic Force/Moment sensors[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,2018,49(无):301-308.
APA	Liang, Qiaokang.,Wu, Wanneng.,Coppola, Gianmarc.,Zhang, Dan.,Sun, Wei.,...&Wang, Yaonan.(2018).Calibration and decoupling of multi-axis robotic Force/Moment sensors.ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING,49(无),301-308.
MLA	Liang, Qiaokang,et al."Calibration and decoupling of multi-axis robotic Force/Moment sensors".ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 49.无(2018):301-308.

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